Journal article Open Access

Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates

CARUSO, MARCO; SABATINI, ANGELO M; KNAFLITZ, MARCO; GAZZONI, MARCO; Della Croce, U; CEREATTI, ANDREA


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  <identifier identifierType="URL">https://zenodo.org/record/5165218</identifier>
  <creators>
    <creator>
      <creatorName>CARUSO, MARCO</creatorName>
      <givenName>MARCO</givenName>
      <familyName>CARUSO</familyName>
      <affiliation>Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>SABATINI, ANGELO M</creatorName>
      <givenName>ANGELO M</givenName>
      <familyName>SABATINI</familyName>
      <affiliation>The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy (</affiliation>
    </creator>
    <creator>
      <creatorName>KNAFLITZ, MARCO</creatorName>
      <givenName>MARCO</givenName>
      <familyName>KNAFLITZ</familyName>
      <affiliation>Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>GAZZONI, MARCO</creatorName>
      <givenName>MARCO</givenName>
      <familyName>GAZZONI</familyName>
      <affiliation>Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>Della Croce, U</creatorName>
      <givenName>U</givenName>
      <familyName>Della Croce</familyName>
      <affiliation>Department of Biomedical Sciences, Università di Sassari, Sassari, Italy</affiliation>
    </creator>
    <creator>
      <creatorName>CEREATTI, ANDREA</creatorName>
      <givenName>ANDREA</givenName>
      <familyName>CEREATTI</familyName>
      <affiliation>Department of Biomedical Sciences, Università di Sassari, Sassari, Italy</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <subjects>
    <subject>Accelerometers ,</subject>
    <subject>Magnetic sensors</subject>
    <subject>Gyroscopes</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2019-10-07</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="JournalArticle"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/5165218</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1109/embc.2019.8857655</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://zenodo.org/communities/mobilise-d</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;Abstract&lt;/p&gt;

&lt;p&gt;Magneto-Inertial technology is a well-established alternative to optical motion capture for human...&amp;nbsp;motion analysis applications since it allows prolonged monitoring in free-living conditions. Magneto and Inertial Measurement Units (MIMUs) integrate a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer in a single and lightweight device. The orientation of the body to which a MIMU is attached can be obtained by combining its sensor readings within a sensor fusion framework. Despite several sensor fusion implementations have been proposed, no well-established conclusion about the accuracy level achievable with MIMUs has been reached yet. The aim of this preliminary study was to perform a direct comparison among four popular sensor fusion algorithms applied to the recordings of MIMUs rotating at three different rotation rates, with the orientation provided by a stereophotogrammetric system used as a reference. A procedure for suboptimal determination of the parameter filter values was also proposed. The findings highlighted that all filters exhibited reasonable accuracy (rms errors &amp;lt; 6.4&amp;deg;). Moreover, in accordance with previous studies, every algorithm&amp;#39;s accuracy worsened as the rotation rate increased. At the highest rotation rate, the algorithm from Sabatini (2011) showed the best performance with errors smaller than 4.1&amp;deg; rms.&lt;/p&gt;

&lt;p&gt;This work was supported by the Mobilise-D project, that has received funding from the Innovative Medicines Initiative 2 Joint Undertaking under grant agreement No. 820820. This Joint Undertaking receives support from the European Union&amp;#39;s Horizon 2020 research and innovation program and the European Federation of Pharmaceutical Industries and Associations (EFPIA). Content in this publication reflects the authors&amp;rsquo; view and neither IMI nor the European Union, EFPIA, or any Associated Partners are responsible for any use that may be made of the information contained herein.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/820820/">820820</awardNumber>
      <awardTitle>Connecting digital mobility assessment to clinical outcomes for regulatory and clinical endorsement</awardTitle>
    </fundingReference>
  </fundingReferences>
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